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Off‐pump, minimally invasive and robotic coronary revascula..:

Atluri, Pavan ; Kozin, Elliott D. ; Hiesinger, William.
The International Journal of Medical Robotics and Computer Assisted Surgery.  5 (2008)  1 - p. 1-12 , 2008
Link: https://doi.org/10.1002/rcs.230